Repository: gaochq/IMU_Attitude_Estimator
Branch: master
Commit: 2ad6f4fe29da
Files: 20
Total size: 133.2 KB
Directory structure:
gitextract_hjgyys6b/
├── Allan_Analysis.py
├── CMakeLists.txt
├── DataSets.py
├── LICENSE
├── README.md
├── cmake_modules/
│ ├── FindEigen3.cmake
│ └── FindGlog.cmake
├── datasets/
│ └── readme.txt
├── demo/
│ └── Test.cpp
├── include/
│ ├── Convert.h
│ ├── EKF_Attitude.h
│ ├── ESKF_Attitude.h
│ ├── Mahony_Attitude.h
│ ├── TypeDefs.h
│ ├── matplotlibcpp.h
│ └── tic_toc.h
└── src/
├── Convert.cpp
├── EKF_Attitude.cpp
├── ESKF_Attitude.cpp
└── Mahony_Attitude.cpp
================================================
FILE CONTENTS
================================================
================================================
FILE: Allan_Analysis.py
================================================
import numpy as np
import matplotlib.pyplot as plt
import math
import numpy.matlib
from scipy.optimize import nnls
import scipy.io as sio
# data was sampled in 100hz
Pts_size = 100
fs = 100
data = np.loadtxt("./datasets/data.dat")
data = data[:,2:5]*3600
[N, M] = data.shape
n = np.arange(0, math.floor(math.log(N/2, 2))+1)
n = 2**n
maxN = n[n.size-1]
endLogInc = math.log(maxN, 10);
m = np.unique(np.ceil(np.logspace(0, endLogInc, Pts_size))).transpose()
t0 = 1.0/fs
T = m*t0
theta = np.zeros([N, M])
theta[:, 0] = data[:, 0].cumsum()/fs
theta[:, 1] = data[:, 1].cumsum()/fs
theta[:, 2] = data[:, 2].cumsum()/fs
sigma2 = np.zeros([T.size, M])
for i in range(0, m.size):
for k in range(0, int(N-2*m[i])):
sigma2[i,:] = sigma2[i,:] + (theta[int(k+2*m[i]), :] - 2*theta[int(k+m[i]), :] + theta[k, :])**2
print(i)
sigma2[i,:] = sigma2[i,:]/(2*T[i]**2*(N-2*m[i]))
sigma2 = np.load("sigma2.dat.npy")
T = np.load("T.dat.npy")
sigma = np.sqrt(sigma2)
print("hello")
plt.loglog(T, sigma2)
plt.show()
for j in range(0,2):
avar = sigma(j)
P = np.empty((T.size, 5))
P[:, 0] = 3 / T**2
P[:, 1] = 1 / T
P[:, 2] = 2 * np.log(2) / np.pi
P[:, 3] = T / 3
P[:, 4] = T**2 / 2
P /= avar[:, np.newaxis]
b = np.ones(T.size)
s = nnls(P, b)[0]
params = np.sqrt(s)
print(params)
================================================
FILE: CMakeLists.txt
================================================
cmake_minimum_required(VERSION 2.8)
project(IMU_Attitude_Estimator)
set(CMAKE_BUILD_TYPE Release)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -o3")
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/bin)
set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)
list(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)
find_package(Eigen3 REQUIRED)
include_directories(EIGEN3_INCLUDE_DIR)
include_directories("/usr/include/eigen3")
find_package(Glog REQUIRED)
include_directories(${GLOG_INCLUDE_DIRS})
find_package(PythonLibs 2.7)
include_directories(${PYTHON_INCLUDE_DIRS})
include_directories(${PROJECT_SOURCE_DIR}/include)
add_library(${PROJECT_NAME} SHARED
src/Convert.cpp
src/EKF_Attitude.cpp
src/ESKF_Attitude.cpp
src/Mahony_Attitude.cpp)
target_link_libraries(${PROJECT_NAME}
${GLOG_LIBRARIES}
${EIGEN3_LIBS}
${PYTHON_LIBRARIES})
add_executable(Demo demo/Test.cpp)
target_link_libraries(Demo ${PROJECT_NAME})
================================================
FILE: DataSets.py
================================================
import numpy as np
import scipy.io as sio
load_fn = './datasets/NAV.mat'
load_Data = sio.loadmat(load_fn)
data = load_Data['NAV']
mea = data[:,8:17]
euler = data[:,29:32]
out = np.hstack((mea, euler))
np.savetxt("data.bin", out, fmt='%f')
print out.shape
print data
================================================
FILE: LICENSE
================================================
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combination as such.
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If the Program specifies that a proxy can decide which future
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THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY
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END OF TERMS AND CONDITIONS
How to Apply These Terms to Your New Programs
If you develop a new program, and you want it to be of the greatest
possible use to the public, the best way to achieve this is to make it
free software which everyone can redistribute and change under these terms.
To do so, attach the following notices to the program. It is safest
to attach them to the start of each source file to most effectively
state the exclusion of warranty; and each file should have at least
the "copyright" line and a pointer to where the full notice is found.
{one line to give the program's name and a brief idea of what it does.}
Copyright (C) {year} {fullname}
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see [http://www.gnu.org/licenses/].
Also add information on how to contact you by electronic and paper mail.
If the program does terminal interaction, make it output a short
notice like this when it starts in an interactive mode:
IMU_Attitude_Estiamtor Copyright (C) 2018 gaochq
This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
This is free software, and you are welcome to redistribute it
under certain conditions; type `show c' for details.
The hypothetical commands `show w' and `show c' should show the appropriate
parts of the General Public License. Of course, your program's commands
might be different; for a GUI interface, you would use an "about box".
You should also get your employer (if you work as a programmer) or school,
if any, to sign a "copyright disclaimer" for the program, if necessary.
For more information on this, and how to apply and follow the GNU GPL, see
[http://www.gnu.org/licenses/].
The GNU General Public License does not permit incorporating your program
into proprietary programs. If your program is a subroutine library, you
may consider it more useful to permit linking proprietary applications with
the library. If this is what you want to do, use the GNU Lesser General
Public License instead of this License. But first, please read
[http://www.gnu.org/philosophy/why-not-lgpl.html].
================================================
FILE: README.md
================================================
# IMU_Attitude_Estimator
This project is aimed at estimating the attitude of Attitude Heading and Reference System(AHRS). And the project contains three popular attitude estimator algorithms.
- Mahony's algorithm
- Extend Kalman Filter(EKF)
- Error State Kalman Filter(ESKF)
```DataSets.py``` for converting estimator data.
```Allan_Analysis``` for Allan Variance analysis.
### Refrence
[1] [Mahony R, Hamel T, Pflimlin J M. Nonlinear complementary filters on the special orthogonal group[J]. IEEE Transactions on automatic control, 2008, 53(5): 1203-1218.](http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=4608934)
[2] [Pixhawk state estimation](https://pixhawk.org/_media/firmware/apps/attitude_estimator_ekf/ekf_excerptmasterthesis.pdf)
[3] [Solà, Joan. Quaternion kinematics for the error-state Kalman filter[J]. 2017.](http://219.216.82.193/cache/4/03/www.iri.upc.edu/bbcd603c764cd75e76df0968d16bc022/kinematics.pdf)
[4] [Trawny N, Roumeliotis S I. Indirect Kalman Filter for 3D Attitude Estimation[J]. 2005.](http://pdfs.semanticscholar.org/2c8e/95bc331024105cbde6f6918cda8493f263c8.pdf)
### Dependencies
- Eigen3.2.0
- glog
```
sudo apt-get install libgoogle-glog-dev
```
- [matplotlib-cpp](https://github.com/lava/matplotlib-cpp)
### Simple Test
Simple comparision among three methods. And the params of Mahony filter can be further tuned.
================================================
FILE: cmake_modules/FindEigen3.cmake
================================================
# - Try to find Eigen3 lib
#
# This module supports requiring a minimum version, e.g. you can do
# find_package(Eigen3 3.1.2)
# to require version 3.1.2 or newer of Eigen3.
#
# Once done this will define
#
# EIGEN3_FOUND - system has eigen lib with correct version
# EIGEN3_INCLUDE_DIR - the eigen include directory
# EIGEN3_VERSION - eigen version
# Copyright (c) 2006, 2007 Montel Laurent,
# Copyright (c) 2008, 2009 Gael Guennebaud,
# Copyright (c) 2009 Benoit Jacob
# Redistribution and use is allowed according to the terms of the 2-clause BSD license.
if(NOT Eigen3_FIND_VERSION)
if(NOT Eigen3_FIND_VERSION_MAJOR)
set(Eigen3_FIND_VERSION_MAJOR 2)
endif(NOT Eigen3_FIND_VERSION_MAJOR)
if(NOT Eigen3_FIND_VERSION_MINOR)
set(Eigen3_FIND_VERSION_MINOR 91)
endif(NOT Eigen3_FIND_VERSION_MINOR)
if(NOT Eigen3_FIND_VERSION_PATCH)
set(Eigen3_FIND_VERSION_PATCH 0)
endif(NOT Eigen3_FIND_VERSION_PATCH)
set(Eigen3_FIND_VERSION "${Eigen3_FIND_VERSION_MAJOR}.${Eigen3_FIND_VERSION_MINOR}.${Eigen3_FIND_VERSION_PATCH}")
endif(NOT Eigen3_FIND_VERSION)
macro(_eigen3_check_version)
file(READ "${EIGEN3_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h" _eigen3_version_header)
string(REGEX MATCH "define[ \t]+EIGEN_WORLD_VERSION[ \t]+([0-9]+)" _eigen3_world_version_match "${_eigen3_version_header}")
set(EIGEN3_WORLD_VERSION "${CMAKE_MATCH_1}")
string(REGEX MATCH "define[ \t]+EIGEN_MAJOR_VERSION[ \t]+([0-9]+)" _eigen3_major_version_match "${_eigen3_version_header}")
set(EIGEN3_MAJOR_VERSION "${CMAKE_MATCH_1}")
string(REGEX MATCH "define[ \t]+EIGEN_MINOR_VERSION[ \t]+([0-9]+)" _eigen3_minor_version_match "${_eigen3_version_header}")
set(EIGEN3_MINOR_VERSION "${CMAKE_MATCH_1}")
set(EIGEN3_VERSION ${EIGEN3_WORLD_VERSION}.${EIGEN3_MAJOR_VERSION}.${EIGEN3_MINOR_VERSION})
if(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})
set(EIGEN3_VERSION_OK FALSE)
else(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})
set(EIGEN3_VERSION_OK TRUE)
endif(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})
if(NOT EIGEN3_VERSION_OK)
message(STATUS "Eigen3 version ${EIGEN3_VERSION} found in ${EIGEN3_INCLUDE_DIR}, "
"but at least version ${Eigen3_FIND_VERSION} is required")
endif(NOT EIGEN3_VERSION_OK)
endmacro(_eigen3_check_version)
if (EIGEN3_INCLUDE_DIR)
# in cache already
_eigen3_check_version()
set(EIGEN3_FOUND ${EIGEN3_VERSION_OK})
else (EIGEN3_INCLUDE_DIR)
# specific additional paths for some OS
if (WIN32)
set(EIGEN_ADDITIONAL_SEARCH_PATHS ${EIGEN_ADDITIONAL_SEARCH_PATHS} "C:/Program Files/Eigen/include" "C:/Program Files (x86)/Eigen/include")
endif(WIN32)
find_path(EIGEN3_INCLUDE_DIR NAMES signature_of_eigen3_matrix_library
PATHS
${CMAKE_INSTALL_PREFIX}/include
${EIGEN_ADDITIONAL_SEARCH_PATHS}
${KDE4_INCLUDE_DIR}
PATH_SUFFIXES eigen3 eigen
)
if(EIGEN3_INCLUDE_DIR)
_eigen3_check_version()
endif(EIGEN3_INCLUDE_DIR)
include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(Eigen3 DEFAULT_MSG EIGEN3_INCLUDE_DIR EIGEN3_VERSION_OK)
mark_as_advanced(EIGEN3_INCLUDE_DIR)
endif(EIGEN3_INCLUDE_DIR)
================================================
FILE: cmake_modules/FindGlog.cmake
================================================
# Ceres Solver - A fast non-linear least squares minimizer
# Copyright 2015 Google Inc. All rights reserved.
# http://ceres-solver.org/
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#
# * Redistributions of source code must retain the above copyright notice,
# this list of conditions and the following disclaimer.
# * Redistributions in binary form must reproduce the above copyright notice,
# this list of conditions and the following disclaimer in the documentation
# and/or other materials provided with the distribution.
# * Neither the name of Google Inc. nor the names of its contributors may be
# used to endorse or promote products derived from this software without
# specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
# Author: alexs.mac@gmail.com (Alex Stewart)
#
# FindGlog.cmake - Find Google glog logging library.
#
# This module defines the following variables:
#
# GLOG_FOUND: TRUE iff glog is found.
# GLOG_INCLUDE_DIRS: Include directories for glog.
# GLOG_LIBRARIES: Libraries required to link glog.
#
# The following variables control the behaviour of this module:
#
# GLOG_INCLUDE_DIR_HINTS: List of additional directories in which to
# search for glog includes, e.g: /timbuktu/include.
# GLOG_LIBRARY_DIR_HINTS: List of additional directories in which to
# search for glog libraries, e.g: /timbuktu/lib.
#
# The following variables are also defined by this module, but in line with
# CMake recommended FindPackage() module style should NOT be referenced directly
# by callers (use the plural variables detailed above instead). These variables
# do however affect the behaviour of the module via FIND_[PATH/LIBRARY]() which
# are NOT re-called (i.e. search for library is not repeated) if these variables
# are set with valid values _in the CMake cache_. This means that if these
# variables are set directly in the cache, either by the user in the CMake GUI,
# or by the user passing -DVAR=VALUE directives to CMake when called (which
# explicitly defines a cache variable), then they will be used verbatim,
# bypassing the HINTS variables and other hard-coded search locations.
#
# GLOG_INCLUDE_DIR: Include directory for glog, not including the
# include directory of any dependencies.
# GLOG_LIBRARY: glog library, not including the libraries of any
# dependencies.
# Reset CALLERS_CMAKE_FIND_LIBRARY_PREFIXES to its value when
# FindGlog was invoked.
macro(GLOG_RESET_FIND_LIBRARY_PREFIX)
if (MSVC)
set(CMAKE_FIND_LIBRARY_PREFIXES "${CALLERS_CMAKE_FIND_LIBRARY_PREFIXES}")
endif (MSVC)
endmacro(GLOG_RESET_FIND_LIBRARY_PREFIX)
# Called if we failed to find glog or any of it's required dependencies,
# unsets all public (designed to be used externally) variables and reports
# error message at priority depending upon [REQUIRED/QUIET/] argument.
macro(GLOG_REPORT_NOT_FOUND REASON_MSG)
unset(GLOG_FOUND)
unset(GLOG_INCLUDE_DIRS)
unset(GLOG_LIBRARIES)
# Make results of search visible in the CMake GUI if glog has not
# been found so that user does not have to toggle to advanced view.
mark_as_advanced(CLEAR GLOG_INCLUDE_DIR
GLOG_LIBRARY)
glog_reset_find_library_prefix()
# Note _FIND_[REQUIRED/QUIETLY] variables defined by FindPackage()
# use the camelcase library name, not uppercase.
if (Glog_FIND_QUIETLY)
message(STATUS "Failed to find glog - " ${REASON_MSG} ${ARGN})
elseif (Glog_FIND_REQUIRED)
message(FATAL_ERROR "Failed to find glog - " ${REASON_MSG} ${ARGN})
else()
# Neither QUIETLY nor REQUIRED, use no priority which emits a message
# but continues configuration and allows generation.
message("-- Failed to find glog - " ${REASON_MSG} ${ARGN})
endif ()
endmacro(GLOG_REPORT_NOT_FOUND)
# Handle possible presence of lib prefix for libraries on MSVC, see
# also GLOG_RESET_FIND_LIBRARY_PREFIX().
if (MSVC)
# Preserve the caller's original values for CMAKE_FIND_LIBRARY_PREFIXES
# s/t we can set it back before returning.
set(CALLERS_CMAKE_FIND_LIBRARY_PREFIXES "${CMAKE_FIND_LIBRARY_PREFIXES}")
# The empty string in this list is important, it represents the case when
# the libraries have no prefix (shared libraries / DLLs).
set(CMAKE_FIND_LIBRARY_PREFIXES "lib" "" "${CMAKE_FIND_LIBRARY_PREFIXES}")
endif (MSVC)
# Search user-installed locations first, so that we prefer user installs
# to system installs where both exist.
list(APPEND GLOG_CHECK_INCLUDE_DIRS
/usr/local/include
/usr/local/homebrew/include # Mac OS X
/opt/local/var/macports/software # Mac OS X.
/opt/local/include
/usr/include)
# Windows (for C:/Program Files prefix).
list(APPEND GLOG_CHECK_PATH_SUFFIXES
glog/include
glog/Include
Glog/include
Glog/Include)
list(APPEND GLOG_CHECK_LIBRARY_DIRS
/usr/local/lib
/usr/local/homebrew/lib # Mac OS X.
/opt/local/lib
/usr/lib)
# Windows (for C:/Program Files prefix).
list(APPEND GLOG_CHECK_LIBRARY_SUFFIXES
glog/lib
glog/Lib
Glog/lib
Glog/Lib)
# Search supplied hint directories first if supplied.
find_path(GLOG_INCLUDE_DIR
NAMES glog/logging.h
PATHS ${GLOG_INCLUDE_DIR_HINTS}
${GLOG_CHECK_INCLUDE_DIRS}
PATH_SUFFIXES ${GLOG_CHECK_PATH_SUFFIXES})
if (NOT GLOG_INCLUDE_DIR OR
NOT EXISTS ${GLOG_INCLUDE_DIR})
glog_report_not_found(
"Could not find glog include directory, set GLOG_INCLUDE_DIR "
"to directory containing glog/logging.h")
endif (NOT GLOG_INCLUDE_DIR OR
NOT EXISTS ${GLOG_INCLUDE_DIR})
find_library(GLOG_LIBRARY NAMES glog
PATHS ${GLOG_LIBRARY_DIR_HINTS}
${GLOG_CHECK_LIBRARY_DIRS}
PATH_SUFFIXES ${GLOG_CHECK_LIBRARY_SUFFIXES})
if (NOT GLOG_LIBRARY OR
NOT EXISTS ${GLOG_LIBRARY})
glog_report_not_found(
"Could not find glog library, set GLOG_LIBRARY "
"to full path to libglog.")
endif (NOT GLOG_LIBRARY OR
NOT EXISTS ${GLOG_LIBRARY})
# Mark internally as found, then verify. GLOG_REPORT_NOT_FOUND() unsets
# if called.
set(GLOG_FOUND TRUE)
# Glog does not seem to provide any record of the version in its
# source tree, thus cannot extract version.
# Catch case when caller has set GLOG_INCLUDE_DIR in the cache / GUI and
# thus FIND_[PATH/LIBRARY] are not called, but specified locations are
# invalid, otherwise we would report the library as found.
if (GLOG_INCLUDE_DIR AND
NOT EXISTS ${GLOG_INCLUDE_DIR}/glog/logging.h)
glog_report_not_found(
"Caller defined GLOG_INCLUDE_DIR:"
" ${GLOG_INCLUDE_DIR} does not contain glog/logging.h header.")
endif (GLOG_INCLUDE_DIR AND
NOT EXISTS ${GLOG_INCLUDE_DIR}/glog/logging.h)
# TODO: This regex for glog library is pretty primitive, we use lowercase
# for comparison to handle Windows using CamelCase library names, could
# this check be better?
string(TOLOWER "${GLOG_LIBRARY}" LOWERCASE_GLOG_LIBRARY)
if (GLOG_LIBRARY AND
NOT "${LOWERCASE_GLOG_LIBRARY}" MATCHES ".*glog[^/]*")
glog_report_not_found(
"Caller defined GLOG_LIBRARY: "
"${GLOG_LIBRARY} does not match glog.")
endif (GLOG_LIBRARY AND
NOT "${LOWERCASE_GLOG_LIBRARY}" MATCHES ".*glog[^/]*")
# Set standard CMake FindPackage variables if found.
if (GLOG_FOUND)
set(GLOG_INCLUDE_DIRS ${GLOG_INCLUDE_DIR})
set(GLOG_LIBRARIES ${GLOG_LIBRARY})
endif (GLOG_FOUND)
glog_reset_find_library_prefix()
# Handle REQUIRED / QUIET optional arguments.
include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(Glog DEFAULT_MSG
GLOG_INCLUDE_DIRS GLOG_LIBRARIES)
# Only mark internal variables as advanced if we found glog, otherwise
# leave them visible in the standard GUI for the user to set manually.
if (GLOG_FOUND)
mark_as_advanced(FORCE GLOG_INCLUDE_DIR
GLOG_LIBRARY)
endif (GLOG_FOUND)
================================================
FILE: demo/Test.cpp
================================================
#include
#include
#include "time.h"
#include
#include
#include "Convert.h"
#include "EKF_Attitude.h"
#include "Mahony_Attitude.h"
#include "ESKF_Attitude.h"
#include "matplotlibcpp.h"
using namespace std;
using namespace IMU;
namespace plt = matplotlibcpp;
int main(int argc, char **argv)
{
Eigen::MatrixXd data, measurements, groundtruth;
data =IMU::readFromfile("./datasets/NAV2_data.bin");
if(data.isZero())
return 0;
const int Rows = data.rows() - 1;
measurements = data.block(0, 0, Rows, 9);
groundtruth = data.block(0, 9, Rows, 3)*180/M_PI;
IMU::EKF_Attitude EKF_AHRS(true, 0.02);
IMU::Mahony_Attitude Mahony(Eigen::Vector2d(1.0, 0), 0.02);
Eigen::Matrix ESKF_InitVec;
ESKF_InitVec << 1e-5*Eigen::Vector3d::Ones(), 1e-9*Eigen::Vector3d::Ones(),
1e-3*Eigen::Vector3d::Ones(), 1e-4*Eigen::Vector3d::Ones();
IMU::ESKF_Attitude ESKF_AHRS(ESKF_InitVec, 0.02);
unsigned int i = 0;
Eigen::MatrixXd Euler(measurements.rows(), 3), Euler1(measurements.rows(), 3), Euler2(measurements.rows(), 3);
std::vector Index, Roll, Pitch, Yaw, Roll_gt, Pitch_gt, Yaw_gt;
std::vector Roll1, Pitch1, Yaw1, Roll_gt1, Pitch_gt1, Yaw_gt1;
std::vector Roll2, Pitch2, Yaw2, Roll_gt2, Pitch_gt2, Yaw_gt2;
TicToc tc;
do
{
Eigen::MatrixXd measure;
Eigen::Quaterniond quaternion;
Vector_3 Euler_single;
quaternion = EKF_AHRS.Run(measurements.row(i).transpose());
Euler.row(i) = Quaternion_to_Euler(quaternion).transpose();
quaternion = Mahony.Run(measurements.row(i).transpose());
Euler1.row(i) = Quaternion_to_Euler(quaternion).transpose();
quaternion = ESKF_AHRS.Run(measurements.row(i).transpose());
Euler2.row(i) = Quaternion_to_Euler(quaternion).transpose();
Index.push_back(i*1.0);
Roll.push_back(Euler.row(i)[0]);
Pitch.push_back(Euler.row(i)[1]);
Yaw.push_back(Euler.row(i)[2]);
Roll1.push_back(Euler1.row(i)[0]);
Pitch1.push_back(Euler1.row(i)[1]);
Yaw1.push_back(Euler1.row(i)[2]);
Roll2.push_back(Euler2.row(i)[0]);
Pitch2.push_back(Euler2.row(i)[1]);
Yaw2.push_back(Euler2.row(i)[2]);
Roll_gt.push_back(groundtruth.row(i)[0]);
Pitch_gt.push_back(groundtruth.row(i)[1]);
Yaw_gt.push_back(groundtruth.row(i)[2]);
i++;
} while (i
#include
#include
#include
#include
#include
#include "TypeDefs.h"
#include "tic_toc.h"
using namespace std;
namespace IMU
{
void Vect_to_SkewMat(Vector_3 Vector, Matrix_3 &Matrix);
void Angular_to_Mat(Vector_3 Vector, Eigen::Matrix &Matrix);
//void Rotation_to_Qaut(Matrix_3 rotation, Eigen::Quaterniond &quat);
Vector_4 Quaternion_to_Vect(Eigen::Quaterniond q);
Eigen::Quaterniond QuatMult(Eigen::Quaterniond q1, Eigen::Quaterniond q2);
Matrix_3 Quat_to_Matrix(Eigen::Quaterniond q);
// Eigen IO
Eigen::MatrixXd readFromfile(const string file);
bool writeTofile(Eigen::MatrixXd matrix, const string file);
// Eluer(Rotate vector) to rotation matrix
Matrix_3 Euler_to_RoatMat(Vector_3 Euler);
// Eluer(Rotate vector) to rotation matrix
Eigen::Quaterniond Euler_to_Quaternion(Vector_3 Euler);
// Quaternion to eulers
Vector_3 Quaternion_to_Euler(Eigen::Quaterniond q);
// Rotation matrix to eulers, the rotation order is X-Y-Z(roll,pitch and yaw)
Vector_3 Rotation_to_Euler(Matrix_3 Rotation);
// Rotation matrix to quaternion http://www.cs.ucr.edu/~vbz/resources/quatut.pdf
Eigen::Quaterniond Rotation_to_Quater(Matrix_3 Rotation);
// Indirect Kalman Filter for 3D Attitude Estimation (Roumeliotis)
Eigen::Quaterniond BuildUpdateQuat(Eigen::Vector3d DeltaTheta);
} //namesapce IMU
#endif
================================================
FILE: include/EKF_Attitude.h
================================================
#ifndef EKF_ATTITUDE_H_
#define EKF_ATTITUDE_H_
#include
#include
#include
#include
#include
#include "TypeDefs.h"
#ifdef _WIN32
#include "windows.h"
#else
#include
#endif
using namespace std;
namespace IMU
{
class EKF_Attitude
{
public:
EKF_Attitude(bool approx_prediction, double dt);
// Modify the params of the filter
void Param_Change(Vector_12 Pro_Nosiecovr, Vector_9 Mea_Nosiecovr);
// Calculate the transition matrix A
// refer to formula 4.19a
void Cal_TransMatrix();
/* The priori prediction:
* Xk+1 = F(Xk,0)
* Pk+1 = A*Pk*A' + Qk
*/
void Prior_Predict();
// The posteriori correction
void Post_Correct();
// Calculate the Euler angular
void Cal_Quaternion();
// read the sensors
void Read_SensorData(Vector_9 measurement);
Eigen::Quaterniond Run(Vector_9 measurement);
void Release();
void RequestStop();
void RequestStart();
bool Stop();
bool isStopped();
private:
Vector_9 cur_measurement;
bool using_2ndOrder;
Eigen::Matrix Q_noise;
Eigen::Matrix R_noise;
double deltaT;
Eigen::Matrix Alin;
// Xk+1, the state vector of posteriori correction
vector< Vector_12 > state_X_pro;
// Xk, the state vector of priori prediction
Vector_12 state_X_par;
// Pk+1
vector< Eigen::Matrix > CovrMatrix_P_pro;
// Pk
Eigen::Matrix CovrMatrix_P_par;
vector< Eigen::Quaterniond > quaternion;
bool mbStopped;
bool mbStopRequested;
std::mutex mMutexStop;
};
} //namespace IMU
#endif
================================================
FILE: include/ESKF_Attitude.h
================================================
#ifndef ESKF_ATTITUDE_H
#define ESKF_ATTITUDE_H
#include
#include
#include
#include